Detailed Description

The ICP algorithm return information.

Definition at line 132 of file CGridMapAligner.h.

#include <mrpt/slam/CGridMapAligner.h>

Inheritance diagram for mrpt::slam::CGridMapAligner::TReturnInfo:

Classes
struct	TPairPlusDistance

Public Member Functions
	TReturnInfo ()=default

virtual	~TReturnInfo () override=default

Public Attributes
float	goodness {0}
	A goodness measure for the alignment, it is a [0,1] range indicator of percentage of correspondences. More...

mrpt::poses::CPose2D	noRobustEstimation
	The "brute" estimation from using all the available correspondences, provided just for comparison purposes (it is not the robust estimation, available as the result of the Align method). More...

mrpt::containers::deepcopy_poly_ptr< mrpt::poses::CPosePDFSOG::Ptr >	sog1
	The different SOG densities at different steps of the algorithm: More...

mrpt::containers::deepcopy_poly_ptr< mrpt::poses::CPosePDFSOG::Ptr >	sog2

mrpt::containers::deepcopy_poly_ptr< mrpt::poses::CPosePDFSOG::Ptr >	sog3

mrpt::maps::CLandmarksMap::Ptr	landmarks_map1
	The landmarks of each map (the indices of these landmarks correspond to those in "correspondences") More...

mrpt::maps::CLandmarksMap::Ptr	landmarks_map2

mrpt::tfest::TMatchingPairList	correspondences
	All the found correspondences (not consistent) More...

std::vector< TPairPlusDistance >	correspondences_dists_maha
	Mahalanobis distance for each potential correspondence. More...

std::vector< double >	icp_goodness_all_sog_modes
	The ICP goodness of all potential SOG modes at the stage "sog2", thus before the removing of "bad" ICP matches. More...

double	executionTime = 0

Constructor & Destructor Documentation

◆ TReturnInfo()

mrpt::slam::CGridMapAligner::TReturnInfo::TReturnInfo ( )

default

◆ ~TReturnInfo()

virtual mrpt::slam::CGridMapAligner::TReturnInfo::~TReturnInfo ( )

overridevirtualdefault

Member Data Documentation

◆ correspondences

mrpt::tfest::TMatchingPairList mrpt::slam::CGridMapAligner::TReturnInfo::correspondences

All the found correspondences (not consistent)

Definition at line 164 of file CGridMapAligner.h.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch().

◆ correspondences_dists_maha

std::vector<TPairPlusDistance> mrpt::slam::CGridMapAligner::TReturnInfo::correspondences_dists_maha

Mahalanobis distance for each potential correspondence.

Definition at line 177 of file CGridMapAligner.h.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch().

◆ executionTime

double mrpt::slam::TMetricMapAlignmentResult::executionTime = 0

inherited

Definition at line 31 of file CMetricMapsAlignmentAlgorithm.h.

Referenced by mrpt::slam::CICP::Align3DPDF(), mrpt::slam::CICP::AlignPDF(), mrpt::slam::CGridMapAligner::AlignPDF_correlation(), mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), mrpt::slam::CMetricMapBuilderICP::processObservation(), and mrpt::apps::CGridMapAlignerApp::run().

◆ goodness

float mrpt::slam::CGridMapAligner::TReturnInfo::goodness {0}

A goodness measure for the alignment, it is a [0,1] range indicator of percentage of correspondences.

Definition at line 140 of file CGridMapAligner.h.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), and mrpt::apps::CGridMapAlignerApp::run().

◆ icp_goodness_all_sog_modes

std::vector<double> mrpt::slam::CGridMapAligner::TReturnInfo::icp_goodness_all_sog_modes

The ICP goodness of all potential SOG modes at the stage "sog2", thus before the removing of "bad" ICP matches.

Definition at line 181 of file CGridMapAligner.h.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), and mrpt::apps::CGridMapAlignerApp::run().

◆ landmarks_map1

mrpt::maps::CLandmarksMap::Ptr mrpt::slam::CGridMapAligner::TReturnInfo::landmarks_map1

The landmarks of each map (the indices of these landmarks correspond to those in "correspondences")

Definition at line 161 of file CGridMapAligner.h.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), and mrpt::apps::CGridMapAlignerApp::run().

◆ landmarks_map2

mrpt::maps::CLandmarksMap::Ptr mrpt::slam::CGridMapAligner::TReturnInfo::landmarks_map2

Definition at line 161 of file CGridMapAligner.h.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), and mrpt::apps::CGridMapAlignerApp::run().

◆ noRobustEstimation

mrpt::poses::CPose2D mrpt::slam::CGridMapAligner::TReturnInfo::noRobustEstimation

The "brute" estimation from using all the available correspondences, provided just for comparison purposes (it is not the robust estimation, available as the result of the Align method).

Definition at line 146 of file CGridMapAligner.h.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), and mrpt::apps::CGridMapAlignerApp::run().